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159 lines
3.4 KiB
159 lines
3.4 KiB
# hw definition file for processing by chibios_pins.py |
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# for Holybro KakuteF7 hardware. |
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@ thanks to betaflight for pin information |
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# MCU class and specific type |
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MCU STM32F7xx STM32F745xx |
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# board ID for firmware load |
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APJ_BOARD_ID 123 |
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# crystal frequency, setup to use external oscillator |
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OSCILLATOR_HZ 8000000 |
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define STM32_LSECLK 32768U |
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define STM32_LSEDRV (3U << 3U) |
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define STM32_PLLSRC STM32_PLLSRC_HSE |
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define STM32_PLLM_VALUE 8 |
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define STM32_PLLN_VALUE 432 |
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define STM32_PLLP_VALUE 2 |
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define STM32_PLLQ_VALUE 9 |
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FLASH_SIZE_KB 1024 |
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# leave 2 sectors free |
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FLASH_RESERVE_START_KB 96 |
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# board voltage |
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STM32_VDD 330U |
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# only one I2C bus |
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I2C_ORDER I2C1 |
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# order of UARTs (and USB), USART3 should be in second place to map order with the board's silk screen |
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UART_ORDER OTG1 USART3 USART1 USART2 UART4 UART7 USART6 |
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# buzzer |
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PD15 TIM4_CH4 TIM4 GPIO(77) ALARM |
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#PD15 BUZZER OUTPUT GPIO(80) LOW |
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#define HAL_BUZZER_PIN 80 |
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#define HAL_BUZZER_ON 1 |
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#define HAL_BUZZER_OFF 0 |
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# PA10 IO-debug-console |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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# SPI1 for SDCard |
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PA4 SDCARD_CS CS |
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PA5 SPI1_SCK SPI1 |
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PA6 SPI1_MISO SPI1 |
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PA7 SPI1_MOSI SPI1 |
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# SPI2 for MAX7456 OSD |
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PB12 MAX7456_CS CS |
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PB13 SPI2_SCK SPI2 |
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PB14 SPI2_MISO SPI2 |
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PB15 SPI2_MOSI SPI2 |
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# SPI4 for ICM20689 |
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PE4 ICM20689_CS CS |
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PE2 SPI4_SCK SPI4 |
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PE5 SPI4_MISO SPI4 |
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PE6 SPI4_MOSI SPI4 |
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# I2C1 for baro |
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PB6 I2C1_SCL I2C1 |
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PB7 I2C1_SDA I2C1 |
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1) |
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1) |
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# define default battery setup |
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define HAL_BATT_VOLT_PIN 13 |
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define HAL_BATT_CURR_PIN 12 |
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define HAL_BATT_VOLT_SCALE 10.1 |
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define HAL_BATT_CURR_SCALE 17.0 |
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PC5 RSSI_ADC ADC1 |
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PA2 LED0 OUTPUT LOW |
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# USART1 |
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PA10 USART1_RX USART1 |
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PA9 USART1_TX USART1 |
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# USART2 |
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PD5 USART2_TX USART2 |
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PD6 USART2_RX USART2 |
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# USART3 (GPS) |
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PB11 USART3_RX USART3 |
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PB10 USART3_TX USART3 |
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# UART4 (GPS2) |
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PA0 UART4_TX UART4 NODMA |
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PA1 UART4_RX UART4 NODMA |
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# USART6, RX only for RCIN |
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PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW |
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PC6 USART6_TX USART6 NODMA LOW |
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# UART7 USED BY ESC FROM ORIGINAL DESIGN |
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PE7 UART7_RX UART7 |
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PE8 UART7_TX UART7 |
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# Motors |
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PB1 TIM1_CH3N TIM1 PWM(1) GPIO(50) |
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PE9 TIM1_CH1 TIM1 PWM(2) GPIO(51) |
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) |
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PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) |
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PC9 TIM3_CH4 TIM3 PWM(5) GPIO(54) |
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PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) |
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# extra PWM outs |
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#PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) # led pin |
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#PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57) # buzzer pin (need to comment out buzzer) |
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DMA_PRIORITY S* |
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define HAL_STORAGE_SIZE 16384 |
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define STORAGE_FLASH_PAGE 1 |
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# spi devices |
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SPIDEV mpu6000 SPI4 DEVID1 ICM20689_CS MODE3 1*MHZ 4*MHZ |
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SPIDEV sdcard SPI1 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ |
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SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ |
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# no built-in compass, but probe the i2c bus for all possible |
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# external compass types |
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define ALLOW_ARM_NO_COMPASS |
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE |
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES |
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define HAL_I2C_INTERNAL_MASK 0 |
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2 |
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# one IMU |
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IMU Invensense SPI:mpu6000 ROTATION_YAW_180 |
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# one BARO |
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BARO BMP280 I2C:0:0x76 |
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define HAL_OS_FATFS_IO 1 |
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define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS" |
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define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN" |
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# setup for OSD |
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define OSD_ENABLED ENABLED |
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define HAL_OSD_TYPE_DEFAULT 1 |
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin |
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define BOARD_PWM_COUNT_DEFAULT 6 |
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define STM32_PWM_USE_ADVANCED TRUE |
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# we are low on flash on this board |
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define HAL_MINIMIZE_FEATURES 1
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